IT1213347B - Meccanismo di polso perfezionato per il braccio di un robot. - Google Patents

Meccanismo di polso perfezionato per il braccio di un robot.

Info

Publication number
IT1213347B
IT1213347B IT8621783A IT2178386A IT1213347B IT 1213347 B IT1213347 B IT 1213347B IT 8621783 A IT8621783 A IT 8621783A IT 2178386 A IT2178386 A IT 2178386A IT 1213347 B IT1213347 B IT 1213347B
Authority
IT
Italy
Prior art keywords
robot
arm
wrist mechanism
perfected
mechanism perfected
Prior art date
Application number
IT8621783A
Other languages
English (en)
Other versions
IT8621783A0 (it
Inventor
Peter A Dirk
Original Assignee
Champion Spark Plug Co
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Champion Spark Plug Co filed Critical Champion Spark Plug Co
Publication of IT8621783A0 publication Critical patent/IT8621783A0/it
Application granted granted Critical
Publication of IT1213347B publication Critical patent/IT1213347B/it

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/0025—Means for supplying energy to the end effector
    • B25J19/0029—Means for supplying energy to the end effector arranged within the different robot elements
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J17/00—Joints
    • B25J17/02—Wrist joints
    • B25J17/0283—Three-dimensional joints
    • B25J17/0291—Three-dimensional joints having axes crossing at an oblique angle, i.e. other than 90 degrees
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
    • Y10T74/00—Machine element or mechanism
    • Y10T74/19—Gearing
    • Y10T74/19023—Plural power paths to and/or from gearing
    • Y10T74/19051—Single driven plural drives
    • Y10T74/1906—Nonparallel
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
    • Y10T74/00—Machine element or mechanism
    • Y10T74/19—Gearing
    • Y10T74/19642—Directly cooperating gears
    • Y10T74/1966—Intersecting axes
    • Y10T74/19665—Bevel gear type
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
    • Y10T74/00—Machine element or mechanism
    • Y10T74/20—Control lever and linkage systems
    • Y10T74/20207—Multiple controlling elements for single controlled element
    • Y10T74/20305—Robotic arm
    • Y10T74/20329—Joint between elements
    • Y10T74/20335—Wrist

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)
IT8621783A 1985-09-25 1986-09-23 Meccanismo di polso perfezionato per il braccio di un robot. IT1213347B (it)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
US06/779,899 US4703668A (en) 1985-09-25 1985-09-25 Wrist mechanism for a robot arm

Publications (2)

Publication Number Publication Date
IT8621783A0 IT8621783A0 (it) 1986-09-23
IT1213347B true IT1213347B (it) 1989-12-20

Family

ID=25117933

Family Applications (1)

Application Number Title Priority Date Filing Date
IT8621783A IT1213347B (it) 1985-09-25 1986-09-23 Meccanismo di polso perfezionato per il braccio di un robot.

Country Status (7)

Country Link
US (1) US4703668A (it)
JP (1) JPS6274592A (it)
DE (1) DE3630190A1 (it)
GB (1) GB2182017B (it)
IT (1) IT1213347B (it)
NO (1) NO163175C (it)
SE (1) SE460837B (it)

Families Citing this family (29)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
SE466994B (sv) * 1988-04-13 1992-05-11 Asea Brown Boveri Robothandled
US5141165A (en) * 1989-03-03 1992-08-25 Nordson Corporation Spray gun with five axis movement
US5316219A (en) * 1992-07-08 1994-05-31 Nordson Corporation Coating apparatus with pattern width control
JP3465850B2 (ja) * 1993-04-28 2003-11-10 株式会社安川電機 産業用ロボットの手首機構
SE513348C2 (sv) * 1993-07-02 2000-08-28 Abb Ab Industrirobot
JP2746543B2 (ja) * 1995-02-21 1998-05-06 株式会社神戸製鋼所 産業用ロボットの手首装置
IT1292275B1 (it) * 1997-04-23 1999-01-29 Comau Spa Polso di robot industriale, e robot comprendente tale polso.
SE513371C2 (sv) * 1998-10-16 2000-09-04 Abb Ab Anordning och förfarande för styrning av ett kablage samt användning av sagda anordning och förfarande
DE10010615A1 (de) * 2000-03-03 2001-09-06 Duerr Systems Gmbh Roboter zum Beschichten oder Behandeln von Werkstücken
US6871563B2 (en) * 2001-02-26 2005-03-29 Howie Choset Orientation preserving angular swivel joint
DE10205593A1 (de) * 2002-02-11 2003-08-21 Duerr Systems Gmbh Beschichtungsmaschine mit einem Zerstäuber und einem Zerstäuber und einem Drehgelenk
JP3746244B2 (ja) * 2002-04-10 2006-02-15 ファナック株式会社 ロボットの手首における線条体の敷設構造
JP4520268B2 (ja) * 2004-09-28 2010-08-04 川崎重工業株式会社 ロボット
US7870807B2 (en) * 2005-09-26 2011-01-18 Durr Systems Inc. Multi axis robot wrist and method of operation
EP1932630A1 (en) * 2006-12-11 2008-06-18 Abb As Wrist of an industrial robot
US8498741B2 (en) * 2009-09-22 2013-07-30 Gm Global Technology Operations Dexterous humanoid robotic wrist
CN102029608A (zh) * 2009-09-24 2011-04-27 鸿富锦精密工业（深圳）有限公司 机器人
DE102009049483A1 (de) * 2009-10-15 2011-04-21 Modine Manufacturing Co., Racine Wärmetauscher und Dichtungsanordnung dafür
CN102049784A (zh) * 2009-10-30 2011-05-11 鸿富锦精密工业（深圳）有限公司 工业机器人
CN102079089A (zh) * 2009-11-30 2011-06-01 鸿富锦精密工业（深圳）有限公司 机器人
CN102198665A (zh) * 2010-03-24 2011-09-28 鸿富锦精密工业（深圳）有限公司 机器人臂部件
CN102811843A (zh) * 2010-09-03 2012-12-05 Abb研究有限公司 工业机器人、用于该工业机器人的组件系统以及用于组装该工业机器人的方法
CN103101057B (zh) * 2011-11-10 2015-10-14 鸿富锦精密工业（深圳）有限公司 机器人臂部件
CN103659833B (zh) * 2012-09-14 2016-03-30 鸿富锦精密工业（深圳）有限公司 机器人臂部件
CN102837321B (zh) * 2012-09-19 2015-10-07 浙江万丰科技开发有限公司 一种自动化通用机械臂
CN103770125B (zh) * 2012-10-26 2016-12-21 鸿富锦精密工业（深圳）有限公司 机器人臂部件
CN103056878B (zh) * 2012-12-25 2016-04-27 无锡夏至自动化有限公司 一种仿生结构机械传动机器人
DE102016003966A1 (de) * 2016-04-01 2017-10-05 Dürr Systems Ag Beschichtungsroboter
CN111086017B (zh) * 2018-10-24 2024-09-13 发那科株式会社 机器人系统

Family Cites Families (28)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE629719C (de) * 1934-08-14 1936-05-09 J M Voith Fa Kegelraedergetriebe
US2101631A (en) * 1937-02-06 1937-12-07 Evert O Sarff Tractor construction
US3375727A (en) * 1966-02-17 1968-04-02 Trw Inc Transversely oriented reduction drive
DE2435156C2 (de) * 1974-07-22 1983-09-01 Kuka Schweissanlagen + Roboter Gmbh, 8900 Augsburg Programmgesteuerter Manipulator
US3871248A (en) * 1974-08-13 1975-03-18 Thomas Barish Two-power-path bevel gearing for high loads and high speeds
US3922930A (en) * 1974-12-23 1975-12-02 Nasa Remotely operable articulated manipulator
US4068536A (en) * 1976-12-23 1978-01-17 Cincinnati Milacron Inc. Manipulator
SU624788A1 (ru) * 1977-04-22 1978-09-25 Кировоградский институт сельскохозяйственного машиностроения Привод робота
US4151390A (en) * 1977-08-04 1979-04-24 Luciano Bisiach Tool holder head, particularly for welding yokes and guns
SU688328A1 (ru) * 1978-04-03 1979-09-30 Предприятие П/Я В-8721 Привод захвата манипул тора
SU704777A2 (ru) * 1978-06-02 1979-12-25 Предприятие П/Я В-8721 Шарнирное соединение звеньев манипул тора
BE870306A (nl) * 1978-09-08 1979-01-02 Legrand M G J Windvaanstuurinrichting en koppelings-inrichting toe te passen in zulke windvaanstuurinrichting
US4218166A (en) * 1978-11-24 1980-08-19 General Motors Corporation Guide device for multi-axis manipulator
SU770780A1 (ru) * 1979-01-25 1980-10-18 Проектно-Конструкторско-Технологическое Бюро По Вагонам Главного Управления По Ремонту Подвижного Состава И Производству Запасных Частей Мпс Ссср Манипул тор
US4250927A (en) * 1979-08-24 1981-02-17 Piper Aircraft Corporation Duct spacer clip and duct assembly
US4353677A (en) * 1980-03-05 1982-10-12 Thermwood Corporation Wrist construction for industrial robots
US4356554A (en) * 1980-09-12 1982-10-26 Thermwood Corporation Method and apparatus for compensating for system error in an industrial robot control
US4354657A (en) * 1980-12-29 1982-10-19 Karlberg John E Supports for coaxial conduits
US4365928A (en) * 1981-05-04 1982-12-28 Cincinnati Milacron Inc. Fluid power connector system for manipulator
US4402234A (en) * 1981-08-13 1983-09-06 General Motors Corporation Three-axis wrist mechanism
US4499784A (en) * 1981-11-20 1985-02-19 Westinghouse Electric Corp. Split-ball type wrist and manipulating assembly for robot
DE3219292C2 (de) * 1982-05-22 1986-01-02 Jungheinrich Unternehmensverwaltung Kg, 2000 Hamburg Gelenkkopf für Industrieroboter
US4456058A (en) * 1982-11-30 1984-06-26 Brown Fintube Company Heat exchanger tube support
US4642021A (en) * 1983-06-27 1987-02-10 Toyoda Koki Kabushiki Kaisha Manipulation arm mechanism for an industrial robot
SE454659B (sv) * 1983-09-01 1988-05-24 Asea Ab Robothandled
JPS60135196A (ja) * 1983-12-22 1985-07-18 株式会社安川電機 産業用ロボツトの手首機構
US4574655A (en) * 1984-07-16 1986-03-11 Kabushiki Kaisha Yasakawa Denki Seisakusho Wrist mechanism for industrial robot
JPS61252093A (ja) * 1985-04-30 1986-11-10 株式会社日立製作所 産業用ロボツトの手首機構

Also Published As

Publication number Publication date
SE8604046D0 (sv) 1986-09-24
DE3630190A1 (de) 1987-03-26
GB2182017A (en) 1987-05-07
NO863802L (no) 1987-03-26
SE460837B (sv) 1989-11-27
NO863802D0 (no) 1986-09-24
GB2182017B (en) 1988-08-17
NO163175C (no) 1990-04-18
US4703668A (en) 1987-11-03
GB8621564D0 (en) 1986-10-15
IT8621783A0 (it) 1986-09-23
SE8604046L (sv) 1987-03-26
JPS6274592A (ja) 1987-04-06

Similar Documents

Publication Publication Date Title
IT1213347B (it) Meccanismo di polso perfezionato per il braccio di un robot.
DE3864135D1 (de) Handgelenkmechanismus fuer industrieroboter.
DE3685835D1 (de) Greiferwerkzeug.
DE3770050D1 (de) Handgelenk fuer roboter.
DE3786477D1 (de) Mehrfacher roboterantrieb.
IT8721592A0 (it) Dispositivo a movimento alternativo per la verniciatura a spruzzo.
DE3667932D1 (de) Schwenkarmroboter.
DK162977C (da) Boeje med minimal bevaegelsesfrihed
IT8441516A0 (it) Manipolatore di componenti a piu'adduttori.
DE3777343D1 (de) Handgelenkseinheit eines industriellen roboters.
IT1184551B (it) Complesso di azionamento perfezionato per un innaffiatoio con azionamento a reazione
FR2611161B1 (fr) Mecanisme de poignet pour robot
KR870700467A (ko) 로보트 제어장치
KR890700433A (ko) 직접구동형 다관절로보트
IT8622301A0 (it) Meccanismo a movimento ritardato per pupazzo animato.
DE3775361D1 (de) Armstruktur eines industriellen roboters.
DE68906436D1 (de) Modularer manipulator-arm.
GB8512056D0 (en) Robotic arm
KR890700434A (ko) 플렉시블 암 로보트의 제어장치
KR880700667A (ko) 정신병 치료제로서의 2,3-디히드로-1h-페날렌-2-아미노화합물
IT8621687A0 (it) Meccanismo per il movimento di poltrone a divanoletto.
IT1172223B (it) Meccanismo a tripla rotazione per polso di manipolatore
IT8619317A0 (it) Braccio telescopico per robot.
KR890012889U (ko) 로보트 손목장치
KR870009803U (ko) 로보트 핸드